A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators

In this paper, for joint torque optimization of redundant manipulators subject to physical constraints, we show that velocity-level and acceleration-level redundancy-resolution schemes both can be formulated as a quadratic programming (QP) problem subject to equality and inequality/bound constraints...

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Bibliographic Details
Published in:	IEEE transactions on systems, man and cybernetics. Part B, Cybernetics Vol. 34; no. 5; pp. 2126 - 2132
Main Authors:	Yunong Zhang, Ge, S.S., Tong Heng Lee
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.10.2004
Subjects:	Acceleration Algorithms Artificial Intelligence Constraint optimization Dynamical systems Dynamics Feedback Kinematics Linear matrix inequalities Manipulator dynamics Manipulators Motion Neural networks Nonlinear Dynamics Piecewise linear techniques Programming, Linear Quadratic programming Redundant Robot arms Robotics - methods Robots Torque Torque control
ISSN:	1083-4419
Online Access:	Get full text
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